CN102341298B - Two-wheeled inverted pendulum device, method for controlling same, and control program - Google Patents
Two-wheeled inverted pendulum device, method for controlling same, and control program Download PDFInfo
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- CN102341298B CN102341298B CN201080010830.2A CN201080010830A CN102341298B CN 102341298 B CN102341298 B CN 102341298B CN 201080010830 A CN201080010830 A CN 201080010830A CN 102341298 B CN102341298 B CN 102341298B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/14—Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A two-wheeled inverted pendulum device is provided with a drive means for driving wheels, a control means for generating torque command values for controlling drive torque of the drive means, and an attitude detecting means for detecting attitude information for a vehicle. Moreover, the two-wheeled inverted pendulum device is capable of traveling with an inverted state maintained. Furthermore, when the control means determines that a torque command value generated is not less than a predetermined value and thus is in a saturated state, and when the control means also determines, on the basis of attitude information detected by the attitude detecting means, that inversion control is in a failed state, then the control means performs control such that an occupant is made to alight from the vehicle.
Description
Technical field
The present invention relates to and maintain handstand state and the inverted two-wheel device that travels and control method thereof and control program.
Background technology
Be known to following inverted two-wheel device, this inverted two-wheel device when make according to passenger center of gravity forwards, backwards or the mobility operation of sway maintains handstand state the traveling (such as with reference to patent documentation 1) of carrying out wishing.
At first technical literature
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2006-315666 publication.
Summary of the invention
Invent problem to be solved
In the inverted two-wheel device shown in above-mentioned patent documentation 1, if when when accelerating, passenger makes center of gravity forwards too greatly move, then vehicle can excessively lean forward, and owing to becoming maximum to the torque instruction value of the electro-motor driving wheel, therefore the output of electro-motor becomes maxim.Now, if the luffing angle of vehicle turns forward on direction produce and rate of pitch produce forward, then vehicle can forwards be fallen, but the torque of electro-motor is no longer output, and therefore cannot recover the posture of vehicle, and handstand control becomes disable state.Further, because vehicle is forwards fallen while the speed of a motor vehicle rises, therefore likely fall under the state that the speed of a motor vehicle is high.
The present invention completes to solve the above problems, and main purpose is to provide a kind of inverted two-wheel device of further raising safety and control method thereof and control program.
For the means of dealing with problems
In order to achieve the above object, a mode of the present invention provides a kind of inverted two-wheel device, and described inverted two-wheel device maintains handstand state and travels, and comprises: driver element, drives wheel; Control unit, generates the torque instruction value of the driving torque for controlling described driver element; And posture detection unit, detect the pose information of vehicle, the feature of described inverted two-wheel device is, when described control unit is in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judges that handstand control is in disable state based on the pose information gone out by described posture detection unit inspection, carry out the control that passenger is got off.
In an above-mentioned mode, described control unit can be worked as when judging that the torque instruction value of described generation is more than or equal to predetermined value and is in saturation conditions and judges that handstand control is in disable state based on the pose information gone out by described posture detection unit inspection, performs other the speeds control controlling with handstand to separate.
In an above-mentioned mode, also can be: also comprise the Bus-Speed Monitoring unit detecting the speed of a motor vehicle, described control unit be in when judging the torque instruction value of described generation to be more than or equal to predetermined value saturation conditions, based on the pose information gone out by described posture detection unit inspection judge stand upside down control be in disable state and the described speed of a motor vehicle gone out by described Bus-Speed Monitoring unit inspection is less than or equal to predetermined speed time, control described driver element, become halted state to make described inverted two-wheel device.
Further, in an above-mentioned mode, described control unit can perform the described speeds control that the speed of a motor vehicle is reduced gradually.
Moreover, in an above-mentioned mode, also can comprise the rotation detecting circuit of the Bus-Speed Monitoring unit detecting the speed of a motor vehicle and the rotation information detecting wheel, described control unit comprises: controller, generates speed value based on the described pose information gone out by described posture detection unit inspection, the described speed of a motor vehicle gone out by described Bus-Speed Monitoring unit inspection and the described rotation information that detected by described rotation detecting circuit; And speed controller, generate described torque instruction value based on the speed value generated by described controller and the described rotation information that detected by described rotation detecting circuit.
In addition, in order to achieve the above object, a mode of the present invention provides a kind of control method of inverted two-wheel device, wherein, described inverted two-wheel device maintains handstand state and travels, the feature that described control method comprises is, comprises the following steps: the torque instruction value generating the driving torque for controlling driver element, described drive unit drives wheel; Detect the pose information of vehicle; And when the torque instruction value that interpretation goes out described generation is more than or equal to predetermined value and is in saturation conditions and judges that handstand control is in disable state based on the described pose information detected, carry out the control that passenger is got off.
In addition, in order to achieve the above object, a mode of the present invention provides a kind of control program of inverted two-wheel device, wherein, described inverted two-wheel device maintains handstand state and travels, described control program makes computing machine perform following process: the torque instruction value generating the driving torque for controlling driver element, described drive unit drives wheel; And when being in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judging that handstand control is in disable state based on the pose information of vehicle, carry out the control that passenger is got off.
Further, in order to achieve the above object, a mode of the present invention provides a kind of inverted two-wheel device, and described inverted two-wheel device maintains handstand state and travels, and comprises: wheel driving assembly, drives wheel; Control setup, generates the torque instruction value of the driving torque for controlling described wheel driving assembly; And attitude sensor, detect the pose information of vehicle, the feature of described inverted two-wheel device is, when described control setup is in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judges that handstand control is in disable state based on the pose information detected by described attitude sensor, carry out the control that passenger is got off.
The effect of invention
According to the present invention, a kind of inverted two-wheel device of further raising safety and control method thereof and control program can be provided.
Accompanying drawing explanation
Fig. 1 is the block diagram of the concise and to the point System's composition representing the inverted two-wheel device that an embodiment of the invention relate to;
Fig. 2 is the front view of the concise and to the point formation representing the inverted two-wheel device that an embodiment of the invention relate to;
Fig. 3 is the block diagram of the concise and to the point System's composition of the control setup representing the inverted two-wheel device that an embodiment of the invention relate to;
Fig. 4 is the diagram of circuit of an example of the control treatment flow process representing the inverted two-wheel device that an embodiment of the invention relate to;
Fig. 5 is the figure of the example representing the speeds control that the controller of the control setup related to by an embodiment of the invention carries out;
Fig. 6 is the block diagram of the concise and to the point System's composition of the control setup representing the inverted two-wheel device that other embodiment of the present invention relates to.
Detailed description of the invention
Below, with reference to accompanying drawing, embodiments of the present invention are described.Fig. 1 is the block diagram of the concise and to the point System's composition representing the inverted two-wheel device that an embodiment of the invention relate to.Fig. 2 is the front view of the concise and to the point formation representing inverted two-wheel device of the present embodiment.Inverted two-wheel device 1 of the present embodiment comprises attitude sensor 2, rotation sensor 3, pair of wheels driven unit 4L, 4R and control setup 5.
In addition, inverted two-wheel device 1 is such as configured to passenger and can standing on the station of riding under the state on vehicle body 6 and take advantage of the coaxial two-wheel vehicle of type.In addition, this coaxial two-wheel vehicle is configured to such as can to make center of gravity movement forwards, backwards to carry out to advance or retreat by passenger, by passenger, center of gravity is moved left and right to carry out left and right to turn.
Attitude sensor 2 is object lessons for posture detection unit, detects the pose information such as leaning angle acceleration/accel such as the leaning angle speed such as angle of inclination, rate of pitch or bank velocity, pitch angle acceleration/accel or roll angle acceleration such as luffing angle or side tilt angle of vehicle body 6.Attitude sensor 2 such as can detect and by passenger, center of gravity be moved forwards, backwards and the luffing angle of the vehicle body 6 that produces, rate of pitch or pitch angle acceleration/accel, and can detect and by passenger, center of gravity is moved left and right and side tilt angle, bank velocity or the roll angle acceleration of vehicle body 6 (or separately pedal 9L, 9R) that produce.
Attitude sensor 2 is connected with control setup 5, and exports the pose information of detected vehicle body 6 to control setup 5.In addition, attitude sensor 2 is such as by the formation such as gyrosensor or acceleration pick-up.In addition, pitch axis is the axle of the axletree being equivalent to pair of wheels 7L, 7R.In addition, roll axis also forms the axle parallel with the travel direction of inverted two-wheel device 1 by the center of vehicle body 6.
Rotation sensor 3 is object lessons for rotation detecting circuit, detects the rotation information such as the anglec of rotation, rotative speed, rotary acceleration of wheel 7L, the 7R being arranged at vehicle body 6.Rotation sensor 3 is connected with control setup 5, control setup 5 is exported to the rotation information of detected each wheel 7L, 7R.In addition, control setup 5 can use the rotation information (anglec of rotation, rotative speed, rotary acceleration etc.) of each wheel 7L, the 7R detected by rotation sensor 3 to calculate the acceleration/accel, the speed of a motor vehicle, amount of movement etc. of inverted two-wheel device 1.
Pair of wheels driven unit 4L, 4R make inverted two-wheel device 1 travel by driving pair of right and left wheel 7L, the 7R being rotatably arranged at vehicle body 6.Each wheel driving assembly 4L, 4R such as can by electro-motors with can the formation such as the speed reduction gearing that links of the mode of transferring power and the S. A. of this electro-motor.Each wheel driving assembly 4L, 4R are connected with control setup 5 via driving circuit 8L, 8R, and control the driving of each wheel 7L, 7R according to the control signal carrying out self-control device 5.
Control setup 5 is object lessons for control unit, controlling the rotation of each wheel 7L, 7R by controlling each wheel driving assembly 4L, 4R, when controlling with the handstand carrying out maintaining handstand state at inverted two-wheel device 1, carrying out the traveling (advance, retrogressing, acceleration, deceleration, stopping, turnon left, right-hand corner etc.) of wishing.In addition, control setup 5 carries out the known control such as controlled reset or robust control based on the pose information of the inverted two-wheel device 1 detected by attitude sensor 2 and the rotation information of each wheel 7L, 7R that detected by rotation sensor 3.
Such as, when passenger makes center of gravity move forwards, backwards, control setup 5 controls the rotation of each wheel 7L, 7R via each wheel driving assembly 4L, 4R according to the luffing angle of the vehicle body 6 detected by attitude sensor 2, thus make inverted two-wheel device 1 advance or retreat.In addition, when passenger makes center of gravity move left and right, control setup 5 controls each wheel driving assembly 4L, 4R according to the side tilt angle of the vehicle body 6 detected by attitude sensor 2, thus between left and right wheels 7L, 7R, generation rotation is poor, makes inverted two-wheel device 1 turnon left or right-hand corner.
In addition, control setup 5 is such as multiplied by predetermined ride gain to the luffing angle of the vehicle body 6 detected by attitude sensor 2, calculates the rotating torques of each wheel 7L, 7R.Then, control setup 5 controls each wheel driving assembly 4L, 4R, to produce calculated rotating torques on each wheel 7L, 7R.
Thus, control setup 5 carries out handstand and controls, and each wheel 7L, 7R are rotated, on the plumb bob vertical that the center-of-gravity position of inverted two-wheel device 1 is turned back to by the axletree of each wheel 7L, 7R to the direction that vehicle body 6 tilts.In addition, control setup 5 to each wheel 7L, 7R additional appropriate rotating torques respectively, thus can maintain make the luffing angle of vehicle body 6 be no more than the handstand state of certain steady state value and carry out advancing according to the pose information from attitude sensor 2, retreat, stop, slowing down, accelerate, the movement control of the inverted two-wheel device 1 such as turnon left, right-hand corner.
According to the formation of above-mentioned wagon control, inverted two-wheel device 1 such as can make center of gravity move forwards, backwards by passenger, vehicle body 6 is tilted forwards, backwards, carry out forward-reverse, center of gravity can be moved left and right by passenger, vehicle body 6 is tilted to the left and right, carry out left and right and turn.In addition, also following formation can be had: when passenger is to when wanting the direction of the hope of turning to carry out rotating operation, uses the cornering operation portion (turning ring, the bearing circle 11 etc.) operation signal corresponding to this operation being supplied to control setup 5 to carry out left and right and turn.
Control setup 5 is such as made up of hardware centered by microcomputer, and described microcomputer comprises CPU (Central Processing Unit, the central process unit) 5a carrying out control treatment, calculation process etc.; Store ROM (the ReadOnly Memory of the control program, operation program etc. performed by CPU 5a, read-only memory (ROM)) RAM (RandomAccess Memory, the random access memory) 5c etc. of 5b and stores processor data etc.
As shown in Figure 2, inverted two-wheel device 1 is formed as coaxial two-wheel vehicle, and comprises vehicle body 6, wheel 7L, 7R, separately pedal 9L, 9R, bearing circle 11 etc.Separately pedal 9L, 9R of pair of right and left are examples of the stretcher that driver takes.Vehicle body 6 is can support respectively separately pedal 9L, 9R respectively to the mode rolling direction change posture.Wheel 7L, 7R of pair of right and left are rotatably supported by vehicle body 6.Bearing circle 11 makes the posture of respectively separately pedal 9L, 9R via vehicle body 6 to the control lever rolling direction change.
Vehicle body 6 is formed as parallel linkage, and described parallel linkage has: body top section part 12 and body bottom section part 13, configure in parallel with each other up and down; And a pair side members 14L, 14R, left and right configuration in parallel with each other, and link with body top section part 12 and body bottom section part 13 rotationally.
Between the body top section part 12 and body bottom section part 13 of this parallel linkage, a pair coil spring 15L, 15R are installed, described a pair coil spring 15L, 15R produce spring force, respectively body top section part 12 and body bottom section part 13 and a pair side members 14L, 14R angulation are maintained right angle.Wheel driving assembly 4L, 4R is separately installed with at each outside face of a pair side members 14L, 14R.
Like this when being placed on smooth road surface E by pair of wheels 7L, 7R of a pair side members 14L, 14R supporting via pair of wheels driven unit 4L, 4R, its centre of gration is each other on same axial line and is consistent.In addition, inverted two-wheel device 1 is formed as coaxial two-wheel vehicle, but is not limited thereto, such as, can be applicable to carry out mobility operation by the gravity motion of passenger and carry out the arbitrary vehicle controlled that stands upside down.
But, in existing inverted two-wheel device, if such as when accelerating, passenger makes center of gravity forwards too greatly move, then vehicle can excessively lean forward, torque instruction value due to the electro-motor to each wheel driving assembly becomes maximum, therefore the output of electro-motor becomes maxim (positive dirction), becomes saturation conditions.Now, if the luffing angle of vehicle body turns forward, direction produces and rate of pitch is upper to the front (direction of falling) of direct of travel produces, then vehicle can forwards be fallen, but the torque of electro-motor is no longer output in the saturated condition, therefore cannot recover the posture of vehicle, handstand control is in disable state (can not state of a control).Further, because vehicle is forwards fallen when the speed of a motor vehicle rises, therefore likely fall under the state that the speed of a motor vehicle is high.
Similarly, if passenger makes center of gravity rearward too greatly move when slowing down, then vehicle can excessive hypsokinesis, and the torque instruction value due to the electro-motor to each wheel driving assembly becomes maximum, therefore the output of electro-motor becomes maxim (negative direction), becomes saturation conditions.Now, if the luffing angle of vehicle body retreats, direction produces and rate of pitch is upper to the rear (direction of falling) of direct of travel produces, then vehicle can rearward be fallen, but because the torque of electro-motor is no longer output in the saturated condition, therefore cannot recover the posture of vehicle, handstand control is in disable state.Likely rearward fall under the state of not slowed down or rearward accelerate after deceleration stops and falling.
Therefore, in inverted two-wheel device 1 of the present embodiment, when control setup 5 is in saturation conditions when being more than or equal to predetermined value to the torque instruction value of wheel driving assembly 4L, 4R and judging that handstand control is in disable state based on the pose information detected by attitude sensor 2, carry out the control that passenger is got off.Thus, even in the saturation conditions owing to becoming more than predetermined value to the torque instruction value of wheel driving assembly 4L, 4R and stand upside down control be in disable state and can not carry out handstands control, also inverted two-wheel device 1 can be made reliably to slow down, stop, passenger can be made to get off safely.That is, the safety of inverted two-wheel device 1 can be improved further.
Fig. 3 is the block diagram of the concise and to the point System's composition of the control setup representing inverted two-wheel device of the present embodiment.Control setup 5 of the present embodiment comprises: controller 51, generates the speed value of the speed of a motor vehicle for determining inverted two-wheel device 1; And speed controller 52, the torque instruction value of the driving torque for controlling each wheel driving assembly 4L, 4R is generated based on the speed value generated by controller 51.
Controller 51 based on determining the luffing angle command value of heeling condition of vehicle body 6 and rate of pitch command value, the luffing angle detected by attitude sensor 2 and rate of pitch, the rotative speed of each wheel 7L, 7R detected by rotation sensor 3 and generating speed value based on the speed of a motor vehicle that the rotation information of each wheel 7L, 7R calculates, and exports the speed value generated to speed controller 52.
In addition, controller 51 judges to stand upside down to control whether be in disable state based on the luffing angle detected by attitude sensor 2 and rate of pitch.Such as, when torque instruction value is saturated in the positive direction, when lean forward direction and rate of pitch that the luffing angle detected by attitude sensor 2 is in vehicle body 6 are in positive dirction, controller 51 is judged as that handstand control is in disable state.Similarly, when torque instruction value is saturated in a negative direction, the luffing angle detected by attitude sensor 2 be in the hypsokinesis direction of vehicle body 6 and rate of pitch is in negative direction time, controller 51 is judged as that handstand control is in disable state.
Speed controller 52 generates torque instruction value based on the speed value generated by controller 51 and the rotative speed of each wheel 7L, 7R that detected by rotation sensor 3, and each wheel driving assembly 4L, 4R is exported to the torque instruction value generated.Each wheel driving assembly 4L, 4R control the rotary actuation of each wheel 7L, 7R according to the torque instruction value generated by speed controller 52.
Respectively separately pedal 9L, 9R are being provided with load transducer 55, described load transducer 55 is for detecting the load of the passenger being applied to respectively separately pedal 9L, 9R.Load transducer 55 is connected with controller 51, to the load value that controller 51 output detections goes out.Controller 51 can detect that based on the load value from load transducer 55 passenger is got off.Thus, passenger can from inverted two-wheel device 1 safety and easily get off.
Then, the control method of inverted two-wheel device 1 of the present embodiment is described in detail.Fig. 4 is the diagram of circuit of an example of the control treatment flow process representing inverted two-wheel device of the present embodiment.
First, the controller 51 of control setup 5 judges whether be more than or equal to predetermined value to the torque instruction value of wheel driving assembly 4L, 4R, whether is in torque instruction value is maximum saturation conditions (step S101).Here, the predetermined value of torque instruction value such as can set based on the ability of the electro-motor of each wheel driving assembly 4L, 4R, the acceleration-deceleration of requirement, the body weight etc. of passenger.
Then, controller 51, when judging that being in torque instruction value is maximum saturation conditions (step S101 is), judges to stand upside down to control whether be in disable state (step S102) based on the luffing angle detected by attitude sensor 2 and rate of pitch.On the other hand, controller 51, when judging that not becoming torque instruction value is maximum saturation conditions (step S101's is no), continuing above-mentioned common handstand and controlling (step S103), terminating present treatment.In the case, control normally to play function owing to standing upside down, therefore can continue common handstand and control.
Afterwards, controller 51 is when judging that based on the luffing angle detected by attitude sensor 2 and rate of pitch handstand control is in disable state (step S102 is), being judged as that handstand control is in can not state of a control, and judges whether the speed of a motor vehicle calculated based on the rotation information of each wheel 7L, 7R of being detected by rotation sensor 3 is less than or equal to predetermined speed (being such as near 0, close to the state stopped) (step S104).On the other hand, when controller 51 controls not to be in disable state when judging based on the luffing angle detected by attitude sensor 2 and rate of pitch to stand upside down (step S102's is no), continue above-mentioned common handstand and control (step S103), terminate present treatment.In the case, same as described above, stand upside down and control normally to play function, therefore can continue common handstand and control.
And, controller 51 is when being judged as that the speed of a motor vehicle calculated based on the rotation information of each wheel 7L, 7R of being detected by rotation sensor 3 is less than or equal to predetermined speed (step S104 is), transfer to and the common speeds control controlling to separate that stands upside down, generate the speed value (step S105) that the speed of a motor vehicle is maintained approximate 0 (halted state).
Such as, controller 51 performs the speeds control to continuous output speed command value=0 of speed controller 52, once confirm that passenger is got off (step S106 is) based on the load value from load transducer 55, then terminates present treatment.In the case, due to handstand control is in can not state of a control and close to halted state, therefore carry out speeds control to become halted state, can get off more safely to make passenger.
On the other hand, controller 51, when being judged as that the speed of a motor vehicle calculated based on the rotation information of each wheel 7L, 7R of being detected by rotation sensor 3 is greater than predetermined speed (step S104's is no), judges whether the luffing angle of the vehicle body 6 detected by attitude sensor 2 is more than or equal to predetermined angular (step S107).Here, predetermined angular is such as the angle that excessive inclination makes the part contact road surface of vehicle body 6.
Controller 51 is when the luffing angle of the vehicle body 6 judging to be detected by attitude sensor 2 is more than or equal to predetermined angular (step S107 is), transfer to and common other the speeds control controlling to separate that stands upside down, generate the speed value (step S105) that the speed of a motor vehicle is maintained approximate 0 (halted state).
Such as, controller 51 performs the speeds control to continuous output speed command value=0 of speed controller 52, after confirming that passenger is got off based on the load value from load transducer 55, terminates present treatment.Thus, when can not carry out standing upside down control, the part of vehicle body 6 contact road surface and wheel 7L, 7R float, wheel 7L, 7R can not dally, can finishing control safely.
On the other hand, controller 51 is when the luffing angle of the vehicle body 6 judging to be detected by attitude sensor 2 is less than predetermined angular (step S107's is no), transfer to and common other the speeds control controlling to separate that stands upside down, perform the speeds control (step S108) based on speed value, once confirm that passenger is got off (step S109 is) based on the load value from load transducer 55, then terminate present treatment.On the other hand, when confirming that passenger is got off (step S109's is no), controller 51 turns back to the process of above-mentioned (step S107).
Here, such as shown in Figure 5, controller 51 performs the speeds control reducing speed value as time goes by and gradually, reduce the speed of a motor vehicle gradually.Thus, even when not carrying out handstand and control, vehicle also can be made reliably to slow down, stop, and passenger can be got off safely.In addition, the changing method of the speed value shown in Fig. 5 is an example, as long as the speed of a motor vehicle reduces gradually, can be arbitrary method.
Above, in inverted two-wheel device 1 of the present embodiment, when control setup 5 is in saturation conditions when judging to be more than or equal to predetermined value to the torque instruction value of each wheel driving assembly 4L, 4R and judges that handstand control is in disable state based on the pose information detected by attitude sensor 2, carry out the control that passenger is got off.Thus, even in the saturation conditions owing to having become more than predetermined value to the torque instruction value of each wheel driving assembly 4L, 4R and stand upside down control be in disable state and can not carry out handstands control, inverted two-wheel device 1 also can be made reliably to slow down, stop.That is, can passenger be made safely to get off, thus the safety of inverted two-wheel device 1 can be improved further.
In addition, the invention is not restricted to above-mentioned embodiment, can take the circumstances into consideration to change in the scope not departing from purport.
Such as, in the above-described embodiment, control setup 5 is the formations with controller 51 and speed controller 52, but also can be the formation (Fig. 6) that the controller 61 of control setup 60 has the function of speed controller 52.
In the case, controller 61 generates torque instruction value based on the luffing angle command value be transfused to and rate of pitch command value, the luffing angle detected by attitude sensor 2 and rate of pitch, the rotative speed of each wheel 7L, 7R detected by rotation sensor 3, the speed of a motor vehicle that calculates based on the rotation information of each wheel 7L, 7R, each wheel driving assembly 4L, 4R is exported to the torque instruction value generated.
In addition, in the above-described embodiment, control setup 5 is worked as wheel driving assembly 4L, the torque instruction value of 4R is more than or equal to predetermined value and is in saturation conditions, and when judging that handstand control is in disable state based on the pose information detected by attitude sensor 2, carry out the control that passenger is got off, but be not limited thereto, such as also can work as interpretation to go out wheel velocity and be more than or equal to predetermined speed or wheel acceleration is more than or equal to predetermined acceleration and is in saturation conditions, and when judging that handstand control is in disable state based on the pose information detected by attitude sensor 2, carry out the control that passenger is got off.
In addition, in the above-described embodiment, the present invention is illustrated as the formation of hardware, but the present invention is not limited thereto.The present invention also can realize the process shown in Fig. 4 by making CPU 5a perform computer program.
In the case, computer program also can be recorded on recording medium and provide, and can provide by sending via network and other communication media.In addition, storage medium such as comprises the RAM storage box, boxlike flash memories, boxlike non-volatile ram etc. of floppy disk, hard disk, disk, magneto-optic disk, CD-ROM, DVD, boxlike ROM, band emergency battery.In addition, communication media comprises the wireless communication mediums such as wired communication media, microwave line etc. such as telephone wire.
Utilizability in industry
The present invention can be used in such as according to passenger make center of gravity forwards, backwards or the mobility operation of sway maintain handstand state and to go forward side by side the inverted two-wheel device of traveling that the departure date hopes.
Label declaration
1 inverted two-wheel device
2 attitude sensors
3 rotation sensors
4L, 4R wheel driving assembly
5 control setups
6 vehicle bodies
7L, 7R wheel
51 controllers
52 speed controllers
Claims (5)
1. an inverted two-wheel device, described inverted two-wheel device maintains handstand state and travels, and comprises: driver element, drives wheel; Control unit, generates the torque instruction value of the driving torque for controlling described driver element; And posture detection unit, detect the pose information of vehicle;
The feature of described inverted two-wheel device is,
When described control unit is in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judges that handstand control is in disable state based on the pose information gone out by described posture detection unit inspection, carry out the control that passenger is got off, and perform and other the speeds control controlling to separate that stands upside down
Further, described control unit performs the described speeds control that the speed of a motor vehicle is reduced gradually.
2. inverted two-wheel device as claimed in claim 1, is characterized in that,
Also comprise the Bus-Speed Monitoring unit detecting the speed of a motor vehicle,
Described control unit be in when judging the torque instruction value of described generation to be more than or equal to predetermined value saturation conditions, based on the pose information gone out by described posture detection unit inspection judge stand upside down control be in disable state and the described speed of a motor vehicle gone out by described Bus-Speed Monitoring unit inspection is less than or equal to predetermined speed time, control described driver element, become halted state to make described inverted two-wheel device.
3. inverted two-wheel device as claimed in claim 1 or 2, is characterized in that,
Also comprise the rotation detecting circuit of the Bus-Speed Monitoring unit detecting the speed of a motor vehicle and the rotation information detecting wheel,
Described control unit comprises:
Controller, generates speed value based on the described pose information gone out by described posture detection unit inspection, the described speed of a motor vehicle gone out by described Bus-Speed Monitoring unit inspection and the described rotation information that detected by described rotation detecting circuit; And
Speed controller, generates described torque instruction value based on the speed value generated by described controller and the described rotation information that detected by described rotation detecting circuit.
4. a control method for inverted two-wheel device, wherein, described inverted two-wheel device maintains handstand state and travels,
The feature of described control method is, comprises the following steps:
Generate the torque instruction value of the driving torque for controlling driver element, described drive unit drives wheel;
Detect the pose information of vehicle; And
When being in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judging that handstand control is in disable state based on the described pose information detected, carry out the control that passenger is got off, and perform and other the speeds control controlling to separate that stands upside down
Further, the described speeds control that the speed of a motor vehicle is reduced gradually is performed.
5. an inverted two-wheel device, described inverted two-wheel device maintains handstand state and travels, and comprises: wheel driving assembly, drives wheel; Control setup, generates the torque instruction value of the driving torque for controlling described wheel driving assembly; And attitude sensor, detect the pose information of vehicle,
The feature of described inverted two-wheel device is,
When described control setup is in saturation conditions when judging the torque instruction value of described generation to be more than or equal to predetermined value and judges that handstand control is in disable state based on the pose information detected by described attitude sensor, carry out the control that passenger is got off, and perform and other the speeds control controlling to separate that stands upside down
Further, the described speeds control that the speed of a motor vehicle is reduced gradually is performed.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2010/001556 WO2011108029A1 (en) | 2010-03-05 | 2010-03-05 | Two-wheeled inverted pendulum device, method for controlling same, and control program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102341298A CN102341298A (en) | 2012-02-01 |
| CN102341298B true CN102341298B (en) | 2015-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080010830.2A Active CN102341298B (en) | 2010-03-05 | 2010-03-05 | Two-wheeled inverted pendulum device, method for controlling same, and control program |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US8666575B2 (en) |
| EP (1) | EP2543582B1 (en) |
| JP (1) | JP5263387B2 (en) |
| KR (1) | KR101340985B1 (en) |
| CN (1) | CN102341298B (en) |
| WO (1) | WO2011108029A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2011108029A1 (en) | 2011-09-09 |
| JPWO2011108029A1 (en) | 2013-06-20 |
| US8666575B2 (en) | 2014-03-04 |
| EP2543582B1 (en) | 2016-06-15 |
| EP2543582A4 (en) | 2014-04-30 |
| EP2543582A1 (en) | 2013-01-09 |
| KR20110120271A (en) | 2011-11-03 |
| US20110282532A1 (en) | 2011-11-17 |
| KR101340985B1 (en) | 2013-12-12 |
| JP5263387B2 (en) | 2013-08-14 |
| CN102341298A (en) | 2012-02-01 |
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